static bool parseVector4(btVector4& vec4, const std::string& vector_str)
{
vec4.setZero();
btArray<std::string> pieces;
btArray<float> rgba;
urdfStringSplit(pieces, vector_str, urdfIsAnyOf(" "));
for (int i = 0; i < pieces.size(); ++i)
{
if (!pieces[i].empty())
{
rgba.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
}
}
if (rgba.size() != 4)
{
return false;
}
vec4.setValue(rgba[0],rgba[1],rgba[2],rgba[3]);
return true;
}
osg::Vec4
osgbCollision::asOsgVec4( const btVector4& v )
{
return osg::Vec4( v.x(), v.y(), v.z(), v.w() );
}
void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax, btVector4 bodyColor)
{
if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE)
{
btVector3 org(m[12], m[13], m[14]);
btVector3 dx(m[0], m[1], m[2]);
btVector3 dy(m[4], m[5], m[6]);
// btVector3 dz(m[8], m[9], m[10]);
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
dx *= halfExtent[0];
dy *= halfExtent[1];
// dz *= halfExtent[2];
glColor3f(1,1,1);
glDisable(GL_LIGHTING);
glLineWidth(2);
glBegin(GL_LINE_LOOP);
glDrawVector(org - dx - dy);
glDrawVector(org - dx + dy);
glDrawVector(org + dx + dy);
glDrawVector(org + dx - dy);
glEnd();
return;
}
else if((shape->getShapeType() == BOX_SHAPE_PROXYTYPE) && (debugMode & btIDebugDraw::DBG_FastWireframe))
{
btVector3 org(m[12], m[13], m[14]);
btVector3 dx(m[0], m[1], m[2]);
btVector3 dy(m[4], m[5], m[6]);
btVector3 dz(m[8], m[9], m[10]);
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
dx *= halfExtent[0];
dy *= halfExtent[1];
dz *= halfExtent[2];
glBegin(GL_LINE_LOOP);
glDrawVector(org - dx - dy - dz);
glDrawVector(org + dx - dy - dz);
glDrawVector(org + dx + dy - dz);
glDrawVector(org - dx + dy - dz);
glDrawVector(org - dx + dy + dz);
glDrawVector(org + dx + dy + dz);
glDrawVector(org + dx - dy + dz);
glDrawVector(org - dx - dy + dz);
glEnd();
glBegin(GL_LINES);
glDrawVector(org + dx - dy - dz);
glDrawVector(org + dx - dy + dz);
glDrawVector(org + dx + dy - dz);
glDrawVector(org + dx + dy + dz);
glDrawVector(org - dx - dy - dz);
glDrawVector(org - dx + dy - dz);
glDrawVector(org - dx - dy + dz);
glDrawVector(org - dx + dy + dz);
glEnd();
return;
}
glPushMatrix();
btglMultMatrix(m);
if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
{
const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
const btConvexShape* convexShape = scalingShape->getChildShape();
float scalingFactor = (float)scalingShape->getUniformScalingFactor();
{
btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
{0,scalingFactor,0,0},
{0,0,scalingFactor,0},
{0,0,0,1}};
drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
}
glPopMatrix();
return;
}
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* colShape = compoundShape->getChildShape(i);
btScalar childMat[16];
childTrans.getOpenGLMatrix(childMat);
drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
}
} else
{
if(m_textureenabled&&(!m_textureinitialized))
{
GLubyte* image=new GLubyte[256*256*3];
for(int y=0;y<256;++y)
{
const int t=y>>4;
GLubyte* pi=image+y*256*3;
for(int x=0;x<256;++x)
{
const int s=x>>4;
const GLubyte b=180;
GLubyte c=b+((s+t&1)&1)*(255-b);
pi[0]=pi[1]=pi[2]=c;pi+=3;
}
}
glGenTextures(1,(GLuint*)&m_texturehandle);
glBindTexture(GL_TEXTURE_2D,m_texturehandle);
glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE);
glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR);
glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT);
glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT);
gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image);
delete[] image;
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
glScalef(0.025,0.025,0.025);
}
static const GLfloat planex[]={1,0,0,0};
static const GLfloat planey[]={0,1,0,0};
static const GLfloat planez[]={0,0,1,0};
glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
glEnable(GL_TEXTURE_GEN_S);
// glEnable(GL_TEXTURE_GEN_T); // ???
glEnable(GL_TEXTURE_GEN_R);
m_textureinitialized=true;
//drawCoordSystem();
//glPushMatrix();
glEnable(GL_COLOR_MATERIAL);
if(m_textureenabled)
{
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,m_texturehandle);
} else
{
glDisable(GL_TEXTURE_2D);
}
//glColor3f(color.x(),color.y(), color.z());
glColor4f(bodyColor.x(), bodyColor.y(), bodyColor.z(), bodyColor.w());
//glColor4f(0.1, 1, 0.1, 0.3);
bool useWireframeFallback = true;
if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
{
///you can comment out any of the specific cases, and use the default
///the benefit of 'default' is that it approximates the actual collision shape including collision margin
//int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
int shapetype=shape->getShapeType();
switch (shapetype)
{
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
drawSphere(radius,10,10);
useWireframeFallback = false;
break;
}
case BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
static int indices[36] = {
0,1,2,
3,2,1,
4,0,6,
6,0,2,
5,1,4,
4,1,0,
7,3,1,
7,1,5,
5,4,7,
7,4,6,
7,2,3,
7,6,2};
static btVector3 vertices[8]={ btVector3(1,1,1),btVector3(-1,1,1), btVector3(1,-1,1), btVector3(-1,-1,1), btVector3(1,1,-1), btVector3(-1,1,-1), btVector3(1,-1,-1), btVector3(-1,-1,-1)};
glBegin (GL_TRIANGLES);
int si=36;
for (int i=0;i<si;i+=3)
{
btVector3 v1 = vertices[indices[i]]*halfExtent;
btVector3 v2 = vertices[indices[i+1]]*halfExtent;
btVector3 v3 = vertices[indices[i+2]]*halfExtent;
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
}
glEnd();
useWireframeFallback = false;
break;
}
#if 0
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
int upIndex = coneShape->getConeUpIndex();
float radius = coneShape->getRadius();//+coneShape->getMargin();
float height = coneShape->getHeight();//+coneShape->getMargin();
switch (upIndex)
{
case 0:
glRotatef(90.0, 0.0, 1.0, 0.0);
break;
case 1:
glRotatef(-90.0, 1.0, 0.0, 0.0);
break;
case 2:
break;
default:
{
}
};
glTranslatef(0.0, 0.0, -0.5*height);
glutSolidCone(radius,height,10,10);
useWireframeFallback = false;
break;
}
#endif
case STATIC_PLANE_PROXYTYPE:
{
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
btVector3 planeOrigin = planeNormal * planeConst;
btVector3 vec0,vec1;
btPlaneSpace1(planeNormal,vec0,vec1);
btScalar vecLen = 100.f;
btVector3 pt0 = planeOrigin + vec0*vecLen;
btVector3 pt1 = planeOrigin - vec0*vecLen;
btVector3 pt2 = planeOrigin + vec1*vecLen;
btVector3 pt3 = planeOrigin - vec1*vecLen;
glBegin(GL_LINES);
glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ());
glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ());
glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ());
glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ());
glEnd();
break;
}
/*
case CYLINDER_SHAPE_PROXYTYPE:
{
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->getUpAxis();
float radius = cylinder->getRadius();
float halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
drawCylinder(radius,halfHeight,upAxis);
break;
}
*/
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
btTransform childTransform;
childTransform.setIdentity();
for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
{
btSphereShape sc(multiSphereShape->getSphereRadius(i));
childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
btScalar childMat[16];
childTransform.getOpenGLMatrix(childMat);
drawOpenGL(childMat,&sc,color,debugMode,worldBoundsMin,worldBoundsMax);
}
break;
}
default:
{
if (shape->isConvex())
{
ShapeCache* sc=cache((btConvexShape*)shape);
#if 0
btConvexShape* convexShape = (btConvexShape*)shape;
if (!shape->getUserPointer())
{
//create a hull approximation
void* mem = btAlignedAlloc(sizeof(btShapeHull),16);
btShapeHull* hull = new(mem) btShapeHull(convexShape);
///cleanup memory
m_shapeHulls.push_back(hull);
btScalar margin = shape->getMargin();
hull->buildHull(margin);
convexShape->setUserPointer(hull);
// printf("numTriangles = %d\n", hull->numTriangles ());
// printf("numIndices = %d\n", hull->numIndices ());
// printf("numVertices = %d\n", hull->numVertices ());
}
#endif
//if (shape->getUserPointer())
{
//glutSolidCube(1.0);
btShapeHull* hull = &sc->m_shapehull/*(btShapeHull*)shape->getUserPointer()*/;
if (hull->numTriangles () > 0)
{
int index = 0;
const unsigned int* idx = hull->getIndexPointer();
const btVector3* vtx = hull->getVertexPointer();
glBegin (GL_TRIANGLES);
for (int i = 0; i < hull->numTriangles (); i++)
{
int i1 = index++;
int i2 = index++;
int i3 = index++;
btAssert(i1 < hull->numIndices () &&
i2 < hull->numIndices () &&
i3 < hull->numIndices ());
int index1 = idx[i1];
int index2 = idx[i2];
int index3 = idx[i3];
btAssert(index1 < hull->numVertices () &&
index2 < hull->numVertices () &&
index3 < hull->numVertices ());
btVector3 v1 = vtx[index1];
btVector3 v2 = vtx[index2];
btVector3 v3 = vtx[index3];
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
}
glEnd ();
}
}
}
}
}
}
/// for polyhedral shapes
if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))
{
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
{
glRasterPos3f(0.0, 0.0, 0.0);
//btDrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
glColor3f(1.f, 1.f, 1.f);
int i;
for (i=0;i<polyshape->getNumVertices();i++)
{
btVector3 vtx;
polyshape->getVertex(i,vtx);
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
char buf[12];
sprintf(buf," %d",i);
//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
for (i=0;i<polyshape->getNumPlanes();i++)
{
btVector3 normal;
btVector3 vtx;
polyshape->getPlane(normal,vtx,i);
btScalar d = vtx.dot(normal);
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
char buf[12];
sprintf(buf," plane %d",i);
//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
}
}
#ifdef USE_DISPLAY_LISTS
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
{
GLuint dlist = OGL_get_displaylist_for_shape((btCollisionShape * )shape);
if (dlist)
{
glCallList(dlist);
}
else
{
#else
if (shape->isConcave() && !shape->isInfinite())
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
GlDrawcallback drawCallback;
drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
}
#endif
#ifdef USE_DISPLAY_LISTS
}
}
#endif
glDisable(GL_DEPTH_TEST);
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
if (debugMode&btIDebugDraw::DBG_DrawText)
{
GLDebugDrawString(0,0,shape->getName());
}
if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
{
//btDrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
}
glEnable(GL_DEPTH_TEST);
// glPopMatrix();
if(m_textureenabled) glDisable(GL_TEXTURE_2D);
}
/*!
\pre tv_plane and tu_plane must be set
\post
distances[2] is set with the distance
closest_point_u, closest_point_v, edge_edge_dir are set too
\return
- 0: faces are paralele
- 1: face U casts face V
- 2: face V casts face U
- 3: nearest edges
*/
SIMD_FORCE_INLINE GUINT cross_line_intersection_test()
{
// Compute direction of intersection line
edge_edge_dir = tu_plane.cross(tv_plane);
GREAL Dlen;
VEC_LENGTH(edge_edge_dir,Dlen);
if(Dlen<0.0001)
{
return 0; //faces near paralele
}
edge_edge_dir*= 1/Dlen;//normalize
// Compute interval for triangle 1
GUINT tu_e0,tu_e1;//edge indices
GREAL tu_scale_e0,tu_scale_e1;//edge scale
if(!compute_intervals(du[0],du[1],du[2],
du0du1,du0du2,tu_scale_e0,tu_scale_e1,tu_e0,tu_e1)) return 0;
// Compute interval for triangle 2
GUINT tv_e0,tv_e1;//edge indices
GREAL tv_scale_e0,tv_scale_e1;//edge scale
if(!compute_intervals(dv[0],dv[1],dv[2],
dv0dv1,dv0dv2,tv_scale_e0,tv_scale_e1,tv_e0,tv_e1)) return 0;
//proyected vertices
btVector3 up_e0 = tu_vertices[tu_e0].lerp(tu_vertices[(tu_e0+1)%3],tu_scale_e0);
btVector3 up_e1 = tu_vertices[tu_e1].lerp(tu_vertices[(tu_e1+1)%3],tu_scale_e1);
btVector3 vp_e0 = tv_vertices[tv_e0].lerp(tv_vertices[(tv_e0+1)%3],tv_scale_e0);
btVector3 vp_e1 = tv_vertices[tv_e1].lerp(tv_vertices[(tv_e1+1)%3],tv_scale_e1);
//proyected intervals
GREAL isect_u[] = {up_e0.dot(edge_edge_dir),up_e1.dot(edge_edge_dir)};
GREAL isect_v[] = {vp_e0.dot(edge_edge_dir),vp_e1.dot(edge_edge_dir)};
sort_isect(isect_u[0],isect_u[1],tu_e0,tu_e1,up_e0,up_e1);
sort_isect(isect_v[0],isect_v[1],tv_e0,tv_e1,vp_e0,vp_e1);
const GREAL midpoint_u = 0.5f*(isect_u[0]+isect_u[1]); // midpoint
const GREAL midpoint_v = 0.5f*(isect_v[0]+isect_v[1]); // midpoint
if(midpoint_u<midpoint_v)
{
if(isect_u[1]>=isect_v[1]) // face U casts face V
{
return 1;
}
else if(isect_v[0]<=isect_u[0]) // face V casts face U
{
return 2;
}
// closest points
closest_point_u = up_e1;
closest_point_v = vp_e0;
// calc edges and separation
if(isect_u[1]+ MIN_EDGE_EDGE_DIS<isect_v[0]) //calc distance between two lines instead
{
SEGMENT_COLLISION(
tu_vertices[tu_e1],tu_vertices[(tu_e1+1)%3],
tv_vertices[tv_e0],tv_vertices[(tv_e0+1)%3],
closest_point_u,
closest_point_v);
edge_edge_dir = closest_point_u-closest_point_v;
VEC_LENGTH(edge_edge_dir,distances[2]);
edge_edge_dir *= 1.0f/distances[2];// normalize
}
else
{
distances[2] = isect_v[0]-isect_u[1];//distance negative
//edge_edge_dir *= -1.0f; //normal pointing from V to U
}
}
else
{
if(isect_v[1]>=isect_u[1]) // face V casts face U
{
return 2;
}
else if(isect_u[0]<=isect_v[0]) // face U casts face V
{
return 1;
}
// closest points
closest_point_u = up_e0;
closest_point_v = vp_e1;
// calc edges and separation
if(isect_v[1]+MIN_EDGE_EDGE_DIS<isect_u[0]) //calc distance between two lines instead
{
SEGMENT_COLLISION(
tu_vertices[tu_e0],tu_vertices[(tu_e0+1)%3],
tv_vertices[tv_e1],tv_vertices[(tv_e1+1)%3],
closest_point_u,
closest_point_v);
edge_edge_dir = closest_point_u-closest_point_v;
VEC_LENGTH(edge_edge_dir,distances[2]);
edge_edge_dir *= 1.0f/distances[2];// normalize
}
else
{
distances[2] = isect_u[0]-isect_v[1];//distance negative
//edge_edge_dir *= -1.0f; //normal pointing from V to U
}
}
return 3;
}
glm::vec4 toVec4(const btVector4& v)
{
return glm::vec4(v.getX(), v.getY(), v.getZ(), v.getW());
}
